state_tf.cpp File Reference

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include "math.h"
#include "corobot_msgs/PosMsg.h"
#include "nav_msgs/Odometry.h"
#include <dynamic_reconfigure/server.h>
#include <corobot_state_tf/corobot_state_tfConfig.h>
#include "utility.h"

Include dependency graph for state_tf.cpp:

Go to the source code of this file.

Functions
void	dynamic_reconfigureCallback (corobot_state_tf::corobot_state_tfConfig &config, uint32_t level)
void	errorAdjustment (const double dx, const double dth)
int	main (int argc, char **argv)
void	publish_odometry (ros::Publisher &odom_pub, tf::TransformBroadcaster &odom_broadcaster, tf::TransformBroadcaster &broadcaster)
void	setValues ()
void	WheelCallback (const corobot_msgs::PosMsg &pos)
Variables
corobot_msgs::PosMsg	current
double	DistancePerCount
std::vector< float >	dists
bool	firstTime = true
bool	is4WheelDrive
double	lengthBetweenTwoWheels
bool	odometry_activated = true
corobot_msgs::PosMsg	previous
double	previous_th = 0
double	previous_vth = 0
double	previous_vx = 0
double	previous_vy = 0
double	previous_x = 0
double	previous_y = 0
bool	publish_odom_tf
double	th
bool	th_startError = false
Utility	u
double	x
bool	x_startError = false
double	y
bool	y_startError = false

---

Function Documentation

void dynamic_reconfigureCallback	(	corobot_state_tf::corobot_state_tfConfig &	config,
		uint32_t	level
	)

Definition at line 192 of file state_tf.cpp.

void errorAdjustment	(	const double	dx,
		const double	dth
	)

Definition at line 89 of file state_tf.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 318 of file state_tf.cpp.

void publish_odometry	(	ros::Publisher &	odom_pub,
		tf::TransformBroadcaster &	odom_broadcaster,
		tf::TransformBroadcaster &	broadcaster
	)

Publish the odometry and tf messages

Set the velocity values

Definition at line 199 of file state_tf.cpp.

void setValues

(

)

This function sets the x, y, th, dx, and dth values

Definition at line 142 of file state_tf.cpp.

void WheelCallback

(

const corobot_msgs::PosMsg &

pos

)

This function sets the current position message

Definition at line 184 of file state_tf.cpp.

---

Variable Documentation

corobot_msgs::PosMsg current

Definition at line 78 of file state_tf.cpp.

double DistancePerCount

Definition at line 43 of file state_tf.cpp.

std::vector<float> dists

Definition at line 80 of file state_tf.cpp.

bool firstTime = true

Definition at line 52 of file state_tf.cpp.

bool is4WheelDrive

Definition at line 55 of file state_tf.cpp.

double lengthBetweenTwoWheels

Definition at line 46 of file state_tf.cpp.

bool odometry_activated = true

Definition at line 61 of file state_tf.cpp.

corobot_msgs::PosMsg previous

Definition at line 77 of file state_tf.cpp.

double previous_th = 0

Definition at line 69 of file state_tf.cpp.

double previous_vth = 0

Definition at line 73 of file state_tf.cpp.

double previous_vx = 0

Definition at line 71 of file state_tf.cpp.

double previous_vy = 0

Definition at line 72 of file state_tf.cpp.

double previous_x = 0

Definition at line 67 of file state_tf.cpp.

double previous_y = 0

Definition at line 68 of file state_tf.cpp.

bool publish_odom_tf

Definition at line 58 of file state_tf.cpp.

double th

Definition at line 49 of file state_tf.cpp.

bool th_startError = false

Definition at line 85 of file state_tf.cpp.

Utility u

Definition at line 40 of file state_tf.cpp.

double x

Definition at line 49 of file state_tf.cpp.

bool x_startError = false

Definition at line 83 of file state_tf.cpp.

double y

Definition at line 49 of file state_tf.cpp.

bool y_startError = false

Definition at line 84 of file state_tf.cpp.